The drones that are commercially available for fulfilling this demand can be broadly categorized into ground and aerial robots. Ground robots are among the most used as security robots despite their well known limitations, such as relatively low mobility, difficulty in negotiating rough terrain, difficulty in reaching vantage positions for surveillance, limited operation time, and the potential of colliding with humans in crowded spaces [1]}, [2]}, [3]}, [4]}, [5]}, [6]}, [7]}, [8]}, [9]}, [10]}, [11]}.
